Automated vessel puncture device using three-dimensional(3d) near infrared (nir) imaging and a robotically driven needle

ABSTRACT

The present invention is directed to an automated vessel puncture device, methods of mapping three-dimensional views of subcutaneous vessels and methods for providing simultaneous real-time diagnostic assay.

BACKGROUND OF THE INVENTION

Venipuncture is the process of obtaining a sample of venous blood forpurposes of performing various tests. Most samples are commonly obtainedfrom a vein or organ that lies close to the surface of the skin. Forexample, usually the median cubital vein on the anterior forearm forvenipunture.

Currently, venipunctures are executed manually by trained personnel, butthere are problems inherent with these processes. Many times locating avein is a challenge, especially in younger and elderly individuals. Tocomplicate matters, multiple attempts at needle insertion may berequired, due either to the inexperience of the person obtaining thesample, and/or from difficulty in locating the target vein, resulting indiscomfort to the patient and bruising.

It was first demonstrated in the 1930s that infrared light can be usedto image subcutaneous veins, based on the principle that near infrared(NIR) light has the ability to penetrate human tissue better thanvisible light and is differentially absorbed by oxygenated anddeoxygenated hemoglobin. Skin and some other body tissues reflectinfrared light in the near-infrared wavelength range of about 700 to 900nanometers, while blood absorbs radiation in this range. Thus, in videoimages of body tissue taken under infrared illumination, vessels, e.g.blood vessel or organs, appear as dark lines against a lighterbackground of surrounding fatty tissue. Therefore, a target vessel canbe “illuminated” by finding the positions where the light absorptiondifference between deoxyhemoglobin and oxyhemoglobin is the greatest.

To aid in locating target veins for venipunture, some companies havecommercialized systems using imaging techniques—one example isLumintex's VeinViewer. This device detects subcutaneous veins andprojects a real time image back on the skin, providing a two-dimensional(2D) positional guide for venipuncture. Although this technology mayprovide methods of viewing veins externally, it does not provide anydepth representation of the veins under the skin, leaving the questionof how far and deep to insert the needle to a human estimation. Theactual venipuncture must therefore be performed manually, leading to theinevitable human error.

Some ongoing studies have resulted in a pseudo three-dimensional (3D)imaging systems to serve as the guidance for an automaticcatheterization device. These methods use near infrared (NIR) imaging tolocalize and map superficial veins and a separate NIR based laser systemto generate a 3D topological map of the skin surface. Two-dimensional(2D) masks of the vessels are generated and then projected onto the 3Dtopological maps. In this system, only an estimation of actual vesselposition is generated, because no measurements of vessel depth from thesurface of the skin are ever computed. Therefore, when attempting toguide the needle into the vein, there is no accurate value as to howdeep to drive the needle.

There is also broad research being performed that will robotically guidea needle. One company, ImageGuide, Inc. (part of GE Medical Systems),uses this technology in conjunction with current commercial imagingsystems such as CT and MR. These methods, however, use cumbersome andnon-portable devices for both the viewing and robotics. Currently, thereis no commercial technology that combines an imaging system with arobotically driven needle in a portable unit for the purpose ofvenipuncture.

OBJECTS AND SUMMARY OF THE INVENTION

It is an object of the present invention to provide a self-contained,compact, portable device for autonomous venipuncture.

It is another object of the present invention to provide a compact,portable device that will non-invasively image and map in real time thethree-dimensional (3D) spatial coordinates of subcutaneous vessels inorder to robotically direct a needle into the optimal or designatedvessel for a puncture.

It is another object of the present invention to provide a compact,portable device adaptable for receiving feedback from pressure andvisual sensors which aid in the puncture process.

It is yet another embodiment to provide a self-contained, compact,portable device for vessel puncture.

It is another object of the present invention to provide a method forvenipuncture utilizing a compact, portable puncture device.

It is yet another object of the present invention to provide anall-in-one point of care device for venipuncture and for providingsimultaneous real-time diagnostic assays.

It is an object of the present invention to provide methods forobtaining analytical assays such as glucose monitoring,pregnancy/ovulation testing, coagulation/PT evaluation, fecal occultblood, determination of drugs of abuse, detection of bacterialinfections (e.g., H. pylori), detection of HIV, and monitoring ofcholesterol levels utilizing the automated venipuncture device.

In accordance with the above-mentioned objects, the present invention isdirected to an, automated venipuncture device containing three majorcomponents: (1) an imaging system; (2) an automated robotic end-effectorunit; and (3) a computer (controller and interface).

In certain preferred embodiments, the portable automated venipuncturedevice is adapted for placement on an appendage of a human, ancomprises: i) a near infrared three-dimensional imaging system forilluminating a target vein for venipuncture comprising at least oneinfrared light source for emitting infrared light and at least one lightdetector for capturing reflected near infrared light from the targetvein; ii) an automated robotic end-effector unit comprising a needle fortarget vein puncture and a needle guidance system that utilizes hapticand force feedback profiles for positioning the needle at the targetvessel; and iii) a computer connected to the imaging system andend-effector unit, said computer receiving information from the imagingsystem and end-effector unit and generating haptic force and feedbackprofiles to position the needle and adjust the amount of force appliedto the needle to puncture the target vessel of a human, such that whenthe imaging system and the end-effector unit are attached to anappendage of a human a three-dimensional map of subcutaneous vessel isgenerated and an optimal vessel is targeted for venipuncture.

In certain preferred embodiments, the automated venipuncture device is aself-contained device.

Using near-infrared (NIR) imaging techniques, subcutaneous veins can beimaged and a three-dimensional map of major superficial vesselsconstructed on a computer. Using both instant and real time coordinatesgenerated by the imaging system and haptic feedback from the automatedrobotic end-effector unit, the robotically controlled needle can beguided into a target vessel.

The imaging system and end-effector unit can be contained in a singleunit. This unit will be capable of either being mounted onto a targetlimb (classically the forearm for venipunture) of the subject or thetarget limb will be placed onto a stationary unit (e.g., a table). Theimaging system and end-effector unit can be remotely connected to acomputer which controls the image processing and robotic automation.

In certain other embodiments, the present invention is directed to amethod of mapping a three-dimensional view of subcutaneous veins forautomated venipuncture utilizing an automated venipuncture device,wherein the method has the following steps: i) attaching the portableautomated venipuncture device on an appendage of a human; ii) capturingstill images of subcutaneous vessels on a computer generated from thenear infrared three-dimensional imaging system of the automatedvenipuncture device; iii) creating an image threshold using profiles ofpixel intensity values of the still images, and refining contrast andclarity of the image; iv) conducting segment surface extraction andsmoothing to define boarders and midline of subcutaneous vessels; v)conducting mesh generation to define a default three-dimensionalgeometry representing size and shape of the subcutaneous vessels; vi)optimizing the mesh generation using segmented images to generate a truethree-dimensional representation of the subcutaneous vessels; and vii)obtaining a final three-dimensional volumetric reconstruction of thesubcutaneous veins.

In certain other embodiments, the present invention is further directedto a method of controlling needle positioning of an automatedvenipuncture device of the present invention, wherein the method has thefollowing steps: i) calculating a relative target position of the needletip utilizing a three-dimensional volumetric reconstruction ofsubcutaneous vessels; ii) calculating a reference distance of the needletip utilizing a position sensor located on the imaging system; iii)calculating the absolute target position of the needle tip based on therelative target position of step i) that is adjusted based on thereference distance of step ii); iv) tracking the displacement of theneedle device carrier by the position sensor; v) evaluating thedisplacement of the needle verses the absolute target position utilizinga feedback loop within the automated venipuncture device, wherein needleplacement is stopped when the needle displacement and absolute targetposition coincide; and vi) ensuring the correct angle of injectionutilizing fine motor positioning adjustments, such that venipuncture toan optimal vein is provided.

The present invention is also directed to an all-in-one point of caredevice by coupling the automated venipuncture device of the presentinvention with real-time diagnostic assays.

In certain embodiments, the present invention is further directed tomethod for providing simultaneous real-time diagnostic assays by: i)obtaining a blood sample utilizing the self contained, automatedvenipuncture device of claim 1; and ii) simultaneously introducing saidblood sample into a point of care diagnostic assay.

The creation of three-dimensional (3D) coordinate representation ofsuperficial vessels in a rapid and real time manner eliminates any guesswork and allows precise needle insertion. The automated venipuncturedevice of the present invention therefore eliminates human error andpotential multiple and incorrect punctures that are common occurrenceswhen performing a venipuncture, each of which can cause trauma andpainful bruising for the human.

The methods utilized in the present invention can increase patientcomfort, provide for rapid phlebotomy and increase the overallefficiency for extremely common procedures, all of which are priority inhealth care.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A shows a self-contained, automated venipuncture device of thepresent invention connected to a human, and hard wired to the computer(PC) interface component of the device.

FIG. 1B is a close-up of a self-contained, automated venipuncture deviceof the present invention.

FIGS. 2A and 2B illustrate an underside layout of an imaging systemhousing plate and the assembly of imaging system components.

FIG. 3A is an illustration a cuff-like harness, automated roboticend-effector unit and imaging system.

FIG. 3B is a blowout of an automated robotic end-effector “positioning”unit and its individual robotic components.

FIG. 3C illustrates an imaging system assembly in association with therobotically driven needle of the automated robotic end-effector unit.

FIG. 4 is a flow diagram of computations made to reconstruct athree-dimensional (3D) representation of a vein from two-dimensional(2D) images.

FIG. 5 is a flow diagram of a vessel puncture control algorithm and themethods for the control of the venipuncture device.

FIG. 6 shows an Example Decrease in force observed after needle haspenetrated a target vein.

FIG. 7 is a graph showing the wavelength absorptivities of deoxy-HB andoxy-Hb.

FIG. 8 is a diagram showing one possible configuration of light emittingdiodes and light detectors of the imaging system.

DETAILED DESCRIPTION OF THE INVENTION

The self-contained, automated venipuncture device of the presentinvention provides a fully automated puncture device that combines novelnear infrared (NIR) imaging techniques to generate a three-dimensional(3D) map of subcutaneous vessels in real time, combined with acomputer-controlled, automated robotic end-effector unit that allows forportable application essentially anywhere.

The self-contained, automated venipuncture device is comprised of threemajor components: i) a three-dimensional (3D) vessel imaging system; ii)an automated robotic end-effector unit; and iii) a computer.

Subcutaneous Vessel Imaging System

In order to “illuminate” a target vessel, the automated venipuncturedevice of the present invention contains a three-dimensional (3D)imaging system that non-invasively maps the target veins, for example asubcutaneous network of blood vessels.

The three-dimensional (3D) imaging system of the present inventioncontains a light source for emitting infrared light and light detectorsfor capturing reflected near infrared light. In certain embodiments ofthe present invention, the light source may be a single or a pluralityof light emitting diodes (LEDs) that provide infrared light to targetveins from different illumination directions.

The light emitting diodes (LEDs) utilized in the imaging systempreferably have a wavelength ranging from about 730 nm to about 910 nm.In certain preferred embodiments, the light emitting diodes have awavelength ranging from about 730 nm to about 850 nm; 730 nm being nearthe peak absorption of deoxy-Hb and 850 nm being near the peakabsorption of oxy-Hb and just beyond the minimum absorption of deoxy-Hb(See: FIG. 7).

Light emitting diodes (LEDs) of other frequencies are also contemplatedfor use in the imaging system of the present invention.

In certain other embodiments, the present invention may utilize othersources of light.

The imaging system of the automated venipuncture device of the presentinvention also preferably contains a single or a plurality of lightdetectors. In certain preferred embodiments, the light detectors arephotodetectors. Photodetectors are the preferred light detector forimage capture because of their relatively lower costs over other lightdetectors.

In certain embodiments of the present invention, the near infrared lightemitting diodes are arranged in an array that preferably also includesthe photodetectors. One possible configuration is as shown in FIG. 8,wherein the circles represent the LEDs and the squares represent thephotodetector.

In this embodiment, there are nine (9) light emitting diodes, eachcapable of generating light at either 700 nm or 910 nm, and four (4)photodetectors, resulting in 16 possible LED-detector pairings, eachcorresponding to a possible orientation of the subcutaneous vessels. Theraw measurement from the imaging system is:

D=(fdeoxy,1-foxy,1)-(fdeoxy,2-foxy,2)

where 1 and 2 refer to two different LEDs. The quantity D is a vector,having a magnitude representing the difference of differentialabsorption and a direction representing any two of the paths enumeratedabove. This particular embodiment is not intended to be limiting in anyway.

During the imaging process, the D_(i) measurements are collected andthen used to reconstruct the position and orientation of thesubcutaneous vein. Back-projection techniques similar to traditionalcomputed tomography are then used to compute the 3D reconstruction. Withthis data, a 3D coordinate system can be generated that will be used toautomatically guide the robotically driven needle.

In certain other embodiments, near infrared sensitive charged-coupleddevice (CCD) cameras may be used to detect reflected light, incombination with specific filters to enhance the signal.

FIGS. 2A and 2B show an example of the components of the imaging systemof the automated venipuncture device of the present invention. Theimaging system shown in FIGS. 2A and 2B contains a plurality of highlydiffuse infrared light emitting diodes (LEDs) 6 for illuminating thetarget vessel of a human, such as a vein. The imaging system furthercontains a plurality of light detectors 7 for capturing an image, e.g.,video image, of the target veins based upon infrared light reflectedfrom the vessel. When the target vessels are disposed below subcutaneousfat in body tissue, the vessels can be clearly seen in a video imageproduced by the imaging system.

The light emitting diodes 6 may be “potted” or surrounded on their sidesby a substantially opaque material which minimizes diffusion of lightfrom the side of the light emitting diode 6. For optimum illumination,each light emitting diode should be focused at a select angle tomaximize the concentration of light source at a select location withinthe target vessel. For example, a 15 degree angle of dispersion (orfocus angle) may be utilized for effective illumination. In certainembodiments, a dispersion angle of 30 degrees may be suitable foreffective illumination. Other angles of dispersion (or focus angles) maybe acceptable as well, for example from about 0° to about 90°. Therelatively narrow focus angle is beneficial as more light is directedinto the human's tissue around the target vessel for trans-illumination.Each of the light emitting diodes 6 can be secured to an imaging systemhousing plate 5. The imaging system housing plate 5 is preferably aprinted circuit board with integrated contacts for connecting to abattery source.

The imaging system of the present invention may also contain on theimaging system housing plate 5 a position sensor 18, as seen in FIGS. 2Aand 2B, for providing a measurement of distance from the light emittingdiodes 6 and the needle 13 to the target veins. This will ensure exactdistances are known at all times. The position sensor located 18 on theimaging system may utilize a laser based system to determine thedistance between the device and the target vein. The position sensor 18,together with the computer program sends out a burst/ping of laser lightand determines the time for the laser light to bounce back. This time isthen correlated with a distance.

As further shown in FIGS. 2A and 2B, the imaging system may also containa plurality of infrared filtered light detectors 7. FIG. 2B furthershows each light detector 7 containing a filter 8 on the lens 9 of thelight detector that will allow only those wavelengths in the infraredrange to pass through and then be subsequently imaged. The imagingsystem of the present invention may utilize interchangeable lenses tovary the field of view of the light detectors 7. The filter 8 and lens 9setup may be attached to an image acquisition assembly unit of the lightdetector 7, through an attachment to the light detector 7.

The lens 9 may be configured to further focus the light emitted from thelight emitting diodes 6 as desired. Alternatively, the lens 9 may be avariable focusing lens that is extended or retracted relative to acylindrical extension to vary the focus of the light emitting diodes 6.

In certain embodiments of the present invention, the light detectors 7will also be capable of being fixed or mounted on a motorized platformto pivot, providing image acquisition from various angles.

Use of the light emitting diodes 6 as a light source minimizes thedanger of burning patients with whom the automated venipuncture deviceis used and will prevent injury to the eyes of a clinician or the humanif they inadvertently look directly into the light source. The lens 9further shields the human from any heat which is produced by the lightemitting diodes 6. As previously discussed, light emitting diodes 6 areavailable which emit in a relatively narrow spectral band, preferablywith a predominant wavelength of about 700 nm to about 910 nm. Lightwith this wavelength has been found to highlight target vessels, e.g.,veins, with respect to the tissue.

Based on the light reflected from the target vein, the light detector 7generates an image, e.g., video image, of the target vein in the form ofan electrical video signal. The enhanced video image signal is providedto a computer 1 through an interface cable 2, as shown in FIG. 1. Thecomputer 1 captures still images from the image signal which may besaved in digital format on a digital storage device either in orconnected to the computer 1. One skilled in the art would understandthat various electronic storage devices, such as external hard drivesand the like may be utilized in the present invention.

As shown in FIGS. 1A and 1B, a preferred embodiment of the presentinvention is contemplated wherein the imaging system housing plate 5that houses the components of the imaging system is enclosed in acuff-like structure 4. The present invention is not limited to thisspecific set-up and other means for securing the imaging system to theautomated puncturing device are contemplated.

Automated Robotic End-Effector Unit

In preferred embodiments, another component of the automatedvenipuncture device of the present invention is an automated roboticend-effector unit that provides robotically controlled needle motion andwhich is capable of robotically guiding the needle into a target vesseldesignated by the computer or operator.

A representative automated robotic end-effector unit of the automatedvenipuncture device of the present invention is shown in FIGS. 3A, 3B,and 3C.

The robotic automated end-effector unit may utilize, for example, acombination of a guidance system based on a derived three-dimensional(3D) coordinate map of the target vein, and a guidance system based onhaptic or force feedback. Both systems standing alone have advantagesand disadvantages, but if used in compliment provide an optimal systemfor robotic venipuncture. The haptic system alone is limited in the factthat it does not take into consideration the depth penetrated within thesystem, only the fact that the vein has been punctured. The 3Dcoordinate map based guidance system will validate that the needle is inthe correct location, that it has entered the vessel, and that a certainpenetration depth has not been exceeded This imaging system is only onelevel of safety protection. In order to ensure a robust safety mechanismfor the device, both systems will be employed in tandem to ensuresafety.

The three-dimensional (3D) imaging technology of the present inventioncan be used to automatically and accurately guide a needle to a locationof the target vessel. Actual insertion of the needle into the skin andinto a vessel is a dynamic process due to the elasticity of tissue.Stretching and deformation of the skin will result in effects notanticipated or compensated for by a system based on visualization alone.Therefore, haptic or force feedback is used to account for theseeffects.

Utilizing the automated venipuncture device of the present invention,when the needle is actually inserted into the skin, and punctures thetarget vessel wall, force and position profiles are generated that aresufficiently distinct to implement automatic needle withdrawal,preventing an overshoot of the needle.

The present invention therefore preferably utilizes both force andposition profile technologies. By using the coordinates generated fromthe three-dimensional (3D) imaging system, a needle can be roboticallyguided to the target vessel, and when inserted into the vessel, forcefeedback prevents the needle from overshooting its target.

In certain embodiments of the present invention, one governing algorithmthat may be utilized to control the position and injection of the needle13 (FIGS. 3B, 3C) into the target vessel, is functionally diagrammed inFIG. 5. A first processor 19 (FIG. 3A) is provided for calculating arelative needle target puncture position using the 3D volumetric imageprovided by the image reconstruction program is first used to compute arelative target position for the needle (FIG. 5, Step 1). A positionsensor 18 (FIGS. 2A, 2B, 3C) is provided for identifying the absolutedistance description of a device reference point from the target vessel(FIG. 5, Step 2).

A second processor 20 (FIG. 3A) is provided for calculating the absolutetarget spatial position for the needle by adjusting the relative targetposition from the first processor 19 by the absolute distance obtainedfrom the position sensor 18 (FIG. 5, Step 3). A second position sensor21 (FIG. 3B), within the device carrier housing 14 (FIG. 3B), isprovided for identifying the current position description of the needledevice carrier 12 (FIG. 3B). A third processor 22 (FIG. 3A) is providedfor feedback control of the needle device carrier 12 with respect to theabsolute target spatial position for the needle provided from the secondprocessor 20. The third processor 22 stops the needle carrier 12 whenthe spatial position from the second position sensor 21 coincides withthe absolute target spatial position for the needle provided from thesecond processor 20 (FIG. 5, Step 4). Finally up and down movement ofthe needle 13 is controlled by a fourth processor 23 (FIG. 3A), whichadjusts the angle of the needle 13 through servo motor 16 (FIG. 3B)(FIG. 5, Step 5).

First processor 19, second processor 20, third processor 22, and fourthprocessor 23, are computational units which can be software or hardwaremodules arranged separately or in any appropriate combination as part ofa computer 1. In addition these processors could also be subroutineswithin a piece of software contained in a computer 1.

The movement of the needle device carrier 12 is driven by a set of servomotors 15, 16, contained within the needle device carrier housing 14.Left to right coarse adjustment (shown by the arrow in FIG. 3B) isdriven by servo motors within gear railing 10. Front to back movement(shown by the arrow in FIG. 3B) is driven by servo motors within thegear railing 11. Fine left to right movement is driven by servo motor15. Fine up and down movement is driven by servo motor 16.

Injection of the needle 13 is driven by servo motors within the needledevice carrier housing 14.

After the medical procedure of interest is completed, a signal from afourth processor 23, will reverse the servo motor within 14, to withdrawthe needle 13 from the target vessel, and subsequently return the needledevice carrier 12 to the starting position.

Computer Component

The computer component of the present invention performs severaldiscreet functions. These include (1) controlling the light source(e.g., LEDs)/light detector array (e.g., photodetectors); (2) creating athree-dimensional (3D) map of the target vessel position; (3)controlling the motion of the automated robotic end-effector unit; and(4) receiving feedback from the end-automated robotic end-effector unitfor purposes of generating force and position profiles, and applyingthis feedback by adjusting the amount of force applied to the needle topenetrate the skin and vein of the human.

Any commonly available personal computer may be used for these purposes.The computer must have a physical interface to both the lightsource/light detector units and to the automated robotic end-effectorunit. The computer must have the capability of turning on and offvarious light sources and reading the results from the light detectors.In addition, the computer must be capable of providing commands to theautomated robotic end-effector unit and reading feedback signals fromthere. Additionally, the computer must be capable of generating thethree-dimensional (3D) maps and the force and position profiles. Onewith skill in the art will realize that there are many ways ofimplementing software to perform these functions, and the actualarrangement and architecture of that software is not the subject of thisinvention.

In certain embodiments, the computer will utilize a software program forreconstructing a three-dimensional model from the images housed in acomputer interface. The same software may also be utilized forevaluating the three-dimensional images and guiding the roboticallydriven needle.

In certain other embodiments, a small, special purpose ASIC(application-specific integrated circuit) may also be utilized in placeof the computer and may be integrated into the device. Additionally,hardwire logic, gate array and state machine technologies can also beutilized in place of the computer.

The overall system must also include a mechanism for holding the human'sbody, e.g., limb, still and in place during the procedure, and there areseveral commercially-available mechanisms capable of performing thisfunction.

Safety Feedback System

A pressure sensor coupled with the servo motor, both contained withinthe needle device carrier housing 14, responsible for needle injectiontransfers pressure readings to a first processor 24. The first processor24 computes a change in applied force over time. A second processor 25,monitors the change in applied force over time and will switch off theservo motor, within the needle carrier housing 14, after an increase inpressure is observed, FIG. 6.

A secondary safety system is also included through the imaging systemand 3D reconstruction algorithm. While venipuncture is taking place, theimaging system and reconstruction algorithm are working in real time andwill determine the penetration depth of the needle 13 into the targetvessel. A third processor 26, will integrate the penetration depth datawith the pressure sensor data from the second processor 25 and willensure that the servo motor, within the device housing 14, is switchedoff either after the aforementioned change in pressure is observed orthe correct depth is penetrated.

Methods of Three-Dimensional Imaging

Another embodiment of the present invention is directed to methods ofconducting fully automated venipuncture in a human. The method combinesthe automated venipuncture device of the present invention together witha novel near infrared imaging techniques to generate a three dimensionalmap of subcutaneous vessels in real time, allowing instant visualizationof the vessels. Although the use of near infrared light has been used inthe past to generate images of subcutaneous veins, they are twodimensional representations of the vessels. By combining multiple nearinfrared images of the vascular network via diffuse optical tomography(DOT), one can generate a three dimensional representation of thevessels. This will far exceed current techniques of 3D visualization inefficiency, time and cost. The resultant 3D representation of the vesselwill subsequently be used to provide spatial position cues to anautomated venipuncture device. The needle puncture system, in turn, willhave an associated pressure feedback in order to assure the safety ofthe device.

Presently, diffusion optical tomography is a widely utilized opticalimage reconstruction tomographic technique. Examples of references whichdisclose this technique include: U.S. Pat. No. 5,813,988 to Alfano etal. entitled “Time-Resolved Diffusion Tomographic Imaging In HighlyScattering Turbid Media,” which issued Sep. 29, 1998; W. Cai et al.,“Time-Resolved Optical Diffusion Tomographic Image Reconstruction InHighly Scattering Turbid Media,” Proc. Natl. Acad. Sci. USA, Vol. 9313561-64 (1996); Arridge, “The Forward and Inverse Problems in TimeResolved Infra-red Imaging,” Medical Optical Tomography: FunctionalImaging and Monitoring SPIE Institutes, Vol. IS11, G. Muller ed., 31-64(1993); and Singer et al., “Image Reconstruction of Interior of BodiesThat Diffuse Radiation,” Science, 248: 990-3 (1993), all of which areincorporated herein by reference.

The methods of the present invention allow for still images to becaptured from the imaging system, and processed in order to generate athree-dimensional (3D) reconstruction of the target vessel. This processwill be executed by a computer program contained within the computer 1.

The automated vessel puncture device of the present invention utilizes acomputer program with real time image reconstruction using theprinciples of diffusion optical tomography and will compute thefollowing sequential steps, as diagrammed in FIG. 4. 1) a thresholdingprocess; 2) segment surface extraction and smoothing; 3) mesh generationbased on advancing front algorithm or other methods; 4) meshoptimization.

Integration with Point of Care Analytical Applications

The present invention is also directed to integrating the automatedvessel puncture device as a kit, or a modified device to includeanalytical assays. These point of care assays include, but are notlimited to: 1) glucose monitoring; 2) determination ofpregnancy/ovulation; 3) measurement of coagulation/PT; 4) fecal occultblood; 5) determination of drugs of abuse; 6) detection of H. pylori; 7)detection of HIV; 8) monitoring of cholesterol levels.

For these types of applications, blood can be withdrawn from a targetvessel of a human utilizing the automated vessel puncture device of thepresent invention and then introduced into a point of care diagnosticassay.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

The present invention will further be appreciated with respect to thefollowing non-limiting example.

Example 1 An Automated Venipuncture Device

An automated venipuncture device was built in three separate pieces: 1)a three-dimensional imaging system; 2) a needle carriage; and 3) acomputer software that included both a three-dimensional (3D)reconstruction algorithm and a device control program.

The imaging system was setup as an off-board construction and wasmounted to an off the shelf laboratory clamp stand. For the imagingsystem, 3 infrared filtered cameras (CCD cameras) were used, and a lightsource that had an infrared filter. The cameras were interfaced with alaptop computer using a RCA to USB adaptor and saved to a hard driveusing SuperDVR image acquisition software.

A needle carriage was designed in Solidworks, and a prototype wasconstructed from a thermo responsive polymer using a rapid prototypingmachine. Servo motors, pressure sensors, and distance determiners werethen glued to the cured polymer pieces and the needle carriage wasassembled on an arm cuff.

For the image reconstruction program various subroutines were combinedtogether in Matlab, as individual m-files. The first sub routine read inthe images and color thresholds them in order to refine the contrast andclarity of the image. The second sub routine segmented the images intoregions of interest, and defined vessel boarders. The third subroutinegenerated a three dimensional finite element mesh that was anapproximation of the vessel that was reconstructed. The fourthsubroutine utilized the regions of interest and refined the threedimensional finite element mesh to yield the final three dimensionalvessel reconstruction. This then provided relative spatial coordinateswhich were used in conjunction with a distance readout from a laserbased device position sensor, that determined the absolute positioningof the vessel with respect to the venipuncture device. The imagingsystem resulted in the reconstruction of multiple vessels, that providedmultiple targets to choose from. Using another Matlab routine, whichprovided a graphical user interface for the user, the user was able tochoose the vessel that was punctured.

For the device control program, a pre-existing program utilizing theVisual C++ language was modified. Via a Labview A/D card in thecomputer, the routines generated in Visual C++ automatically controlledthe movement of the needle carriage and monitored the distancedisplacement. A feedback loop was then used to monitor the displacementof the carriage relative to the injection point determined from theimage reconstruction software.

The final portion of the prototype was an integrated image and pressurebased safety feedback system. For this a pressure sensor was coupled toan injection servo to monitor the resistance during injection in realtime. After a significant drop in force was observed (0.1-1.0 N), thesystem stopped the injection servo. The imaging system was concurrentlyworking and measured the depth of injection of the needle into thevessel, and within a separate program (also written within Matlab)stopped the needle when it penetrated 30-60% into the overall thicknessof the vessel.

The above example is merely demonstrative of an automated venipuncturedevice and one of ordinary skill in the art having the informationcontained in this specification will recognize obvious modificationswhich may be made.

1. A portable automated venipuncture device adapted for placement on anappendage of a human, comprising: i) a near infrared three-dimensionalimaging system for illuminating a target vein for venipuncturecomprising at least one infrared light source for emitting infraredlight and at least one light detector for capturing reflected nearinfrared light from the target vessel; ii) an automated roboticend-effector unit comprising a needle for target vessel puncture and aneedle guidance system that utilizes haptic and force feedback profilesfor positioning the needle at the target vessel; and iii) a computerconnected to the imaging system and end-effector unit, said computerreceiving information from the imaging system and end-effector unit andgenerating haptic force and feedback profiles to position the needle andadjust the amount of force applied to the needle to puncture the targetvessel of a human, such that when the imaging system and theend-effector unit are attached to an appendage of a human athree-dimensional map of subcutaneous vessel is generated and an optimalvessel is targeted for venipuncture.
 2. The portable automatedvenipuncture device of claim 1, wherein the near infrared light sourcehas a frequency range from about 700 nm to about 910 nm.
 3. The portableautomated venipuncture device of claim 2, wherein the near infraredlight source has a frequency range from about 730 nm to about 850 nm. 4.The portable automated venipuncture device of claim 2, wherein the nearinfrared light source is a light emitting diode.
 5. The portableautomated venipuncture device of claim 1, wherein the light detector isselected from the group consisting of photodetectors, and near infraredcharged-coupled device (CCD) cameras.
 6. The portable automatedvenipuncture device of claim 1, wherein the imaging system comprises anarray of nine light emitting diodes and four photodetectors, wherein thearray of light emitting diodes and photodetectors provides for sixteenlight emitting diode/detector pairings, each corresponding to anorientation of a subcutaneous vessels of a human.
 7. The portableautomated venipuncture device of claim 6, wherein a raw measurement ofthe imaging system is calculated using Formula (I):D=(fdeoxy,1-foxy,1)-(fdeoxy,2-foxy,2) where 1 and 2 are two differentlight emitting diodes, D is a vector, having a magnitude representingthe difference of differential absorption and a direction representingany two paths enumerate in FIG.
 8. 8. The portable automatedvenipuncture device of claim 7, wherein the measurement is used toreconstruct positioning and orientation of the subcutaneous veins. 9.The portable automated venipuncture device of claim 1, wherein the lightdetector generates near infrared video images of the target vein basedon the light reflected from the target vein.
 10. The portable automatedvenipuncture device of claim 9, wherein the video images are provided tothe computer through an interface cable, and the computer captures stillimages of the target vein, the still images being stored in digitalformat on a digital storage device.
 11. The portable automatedvenipuncture device of claim 10, wherein the digital storage device isconnected to the computer.
 12. The portable automated venipuncturedevice of claim 10, wherein the digital storage device is inside thecomputer.
 13. The portable automated venipuncture device of claim 10,wherein combining multiple near infrared images of the target vein arecombined with diffuse optical tomography (DOT) techniques to generate athree dimensional representation of the target vessel.
 14. The portableautomated venipuncture device of claim 1, wherein the light emittingdiodes are at about a 0° to about 90° angle of dispersion for maximizingconcentration of the light source at selected location within a targetvessel.
 15. The portable automated venipuncture device of claim 1,wherein the light emitting diodes are at about a 15° to about a 30°angle of dispersion for maximizing concentration of the light source atselected location within a target vessel.
 16. The portable automatedvenipuncture device of claim 1, wherein the light source is secured toan imaging system housing plate.
 17. The portable automated venipuncturedevice of claim 1, wherein the imaging system housing plate is a printedcircuit board with integrated contacts for connecting to a batterysource.
 18. The portable automated venipuncture device of claim 16,wherein a position sensor for providing a measurement of the distancefrom the light source and needle to a target vessel is secured to theimaging system housing plate.
 19. The automated venipuncture device ofclaim 1, wherein the light detector further comprises a filter and lens.20. The automated venipuncture device of claim 1, wherein the lightsource and light detectors are fixed to a pivotable, motorized platformfor providing image acquisition of target vessels from various angles.21. The automated venipuncture device of claim 1, wherein the imagingsystem and end effector unit are enclosed in a cuff.
 22. The portableautomated venipuncture device of claim 1, wherein the automated roboticend-effector unit further comprises a needle device carrier, a needledevice carrier housing and a plurality of servo motors for controllingthe movement of the needle.
 23. The portable automated venipuncturedevice of claim 1, wherein the computer is a portable lap top computer.24. A method of mapping a three-dimensional view of subcutaneous veinsfor automated venipuncture utilizing the automated venipuncture deviceof claim 1, comprising: i) attaching the portable automated venipuncturedevice on an appendage of a human; ii) capturing still images ofsubcutaneous vessels on the computer generated from the near infraredthree-dimensional imaging system of the automated venipuncture device;ii) creating an image threshold using profiles of pixel intensity valuesof the still images, and refining contrast and clarity of the image;iii) conducting segment surface extraction and smoothing to defineboarders and midline of subcutaneous vessels; iv) conducting meshgeneration to define a default three-dimensional geometry representingsize and shape of the subcutaneous vessels; v) optimizing the meshgeneration using segmented images to generate a true three-dimensionalrepresentation of the subcutaneous vessels; and vi) obtaining a finalthree-dimensional volumetric reconstruction of the subcutaneous veins.25. A method of controlling the needle positioning of the venipuncturedevice of claim 1, comprising the steps of: i) calculating a relativetarget position of the needle tip utilizing a three-dimensionalvolumetric reconstruction of subcutaneous vessels; ii) calculating areference distance of the needle tip utilizing a position sensor locatedon the imaging system; iii) calculating the absolute target position ofthe needle tip based on the relative target position of step i) that isadjusted based on the reference distance of step ii); iv) tracking thedisplacement of the needle device carrier by the position sensor; v)evaluating the displacement of the needle verses the absolute targetposition utilizing a feedback loop within the automated venipuncturedevice, wherein needle placement is stopped when the needle displacementand absolute target position coincide; and vi) ensuring the correctangle of injection utilizing fine motor positioning adjustments, suchthat venipuncture to an optimal vein is provided.
 26. The method ofclaim 25, wherein the fine motor positioning adjustments are performedby the servo motors.
 27. A method for providing simultaneous real-timediagnostic assays, comprising: i) obtaining a blood sample utilizing theself contained, automated venipuncture device of claim 1; and ii)simultaneously introducing said blood sample into a point of carediagnostic assay.